Fig. REF  shows the MAE for estimated vehicle’s location and RMSEs for estimated clock bias and heading of the proposed DP SLAM compared to SLAM using Rao-Blackwellized PHD filter[1]} which the number of particles, \(N_p\)  is 2000.
By comparing the results, estimation of the vehicle state through the proposed method has a slight performance drop, but we confirmed that there is a distinct gain of the complexity.
The average running time consumed by the proposed algorithm is 3.5 seconds, whereas the case of [1]} is more than 8000 seconds per 1 Monte Carlo trial.
